Battery and unmanned aerial vehicle with the battery

ABSTRACT

The disclosure provides a battery which can include a power supply and power supply circuit, the power supply circuit connected to the power supply. The power supply can discharge through the power supply circuit. An electronic switch can control the power-on or off of the power supply, thereby avoiding the generation of sparks during the power on process and allowing for the normal use of the battery and the safety of the aircraft. The disclosure also provides an aircraft having the battery.

CROSS-REFERENCE

This application is a continuation of U.S. application Ser. No.15/417,168, filed on Jan. 26, 2017, which is a continuation applicationof U.S. application Ser. No. 14/262,478, filed on Apr. 25, 2014, nowU.S. Pat. No. 9,592,744, issued Mar. 14, 2017, which is a continuationapplication of International Application No. PCT/CN2014/071040, filed onFeb. 10, 2014, which claims priority from Chinese Patent Application No.201310659214.5, filed on Dec. 6, 2013, all of which are incorporatedherein by reference in their entireties.

BACKGROUND

Unmanned vehicles such as unmanned aerial vehicles (UAVs) can be usedfor performing surveillance, reconnaissance, and exploration tasks formilitary and civilian applications. Such unmanned vehicles typicallyinclude a propulsion system for remote controlled and/or autonomousmovement with the surrounding environment. For example, the unmannedvehicles may have a power supply that powers a device of the unmannedvehicle, such as the propulsion system.

Existing systems of battery or power output control for unmannedvehicles, however, can be less than ideal. The batteries traditionallyused in UAVs, for example, can have very large currents and can lack adischarge control mechanism. The batteries traditionally also lack anindicator for a power supply level.

SUMMARY

A need exists for a power supply, such as batteries, having an improveddischarge control mechanism. Previously described batteries can use anelectromechanical switch for discharge control of the battery, ordischarge can be controlled by an interface between the battery and theelectrical equipment. However, during the process of connecting theinterface between the two devices or when the electromechanical switchis closed, sparks can be produced at the contact point.

The sparks can have at least two harmful effects. First, the sparks canbring an instantly high voltage, often 2-3 times higher than the batteryvoltage. This high voltage can damage electrical equipment. Second, thesparks can burn and erode the contact point, resulting in increasedresistance or a bad connection at the contact point, which can be asafety risk (e.g., for movable objects, such as unmanned aerial vehicles(UAVs)). Furthermore, due to large current and a lack ofcharge/discharge protection, the batteries are often damaged due toover-charge and/or over-discharge. There is also a possibility ofbattery explosion or bulging due to over-charge. Also, the user isforced to rely on the measurement of voltage to determine the remainingbattery power, which can be very inaccurate. Battery depletion can bedangerous (e.g., during flight of a UAV).

For these reasons, the disclosure provides a power supply with amultifunction protection board which can provide charge and dischargeprotection as well as power supply capacity calculation. Further, powerthat is provided externally can be controlled by controlling theelectronic power components.

An aspect of the invention is directed to a power supply controlassembly, comprising: a power supply adapted to power an unmanned aerialvehicle (UAV); and a power supply circuit connected to the power supply,wherein the power supply discharges through the power supply circuit topower a device to be powered, wherein the power supply circuit comprisesan electronic switch and an input device, the electronic switch beingelectrically connected to the power supply for controlling a power-on ora power-off of the power supply, the input device electrically connectedto the electronic switch for controlling a switch-on or a switch-offstate of the electronic switch. In some embodiments, the device to bepowered includes a propulsion unit of the UAV. The propulsion unit mayinclude one or more rotors with rotatable blades, and wherein the powersupply causes rotation of the rotor including the blades, therebygenerating a lift for the UAV.

An additional aspect of the invention may be directed to an unmannedaerial vehicle (UAV), comprising: a device to be powered; a power supplyfor powering the device to be powered; and a power supply circuitconnected to the power supply, wherein the power supply dischargesthrough the power supply circuit to power the device to be powered,wherein the power supply circuit comprises an electronic switch and aninput device, the electronic switch being electrically connected to thepower supply for controlling a power-on or a power-off of the powersupply, the input device electrically connected to the electronic switchfor controlling a switch-on or a switch-off state of the electronicswitch. The device to be powered may include a propulsion unit of theUAV. The propulsion unit may include one or more rotors with rotatableblades, and wherein the power supply causes rotation of the rotorincluding the blades, thereby generating a lift for the UAV.

In some embodiments, the power supply circuit may further comprise apower measurement device and an indication device, the power measurementdevice being electrically connected to the power supply and configuredto calculate a level of charge of the power supply, and the indicationdevice being electrically connected to the power measurement device andconfigured to indicate a percentage of the remaining charge of the powersupply. The power measurement device may comprise a current samplingdevice configured to collect current during discharge of the powersupply, and wherein the power measurement device is configured tocollect the current collected by the current sampling device andcalculate the level of charge of the power supply. The level of chargeof the power supply may be calculated based on measuring an amount ofenergy consumed. Alternatively, the level of charge of the power supplyis not calculated based on measurement of a voltage drop across thepower supply. Optionally, the indication device may comprise a pluralityof indicator lights and the number of simultaneously-lit indicatorlights may correspond to a percentage of the level of charge of thepower supply. Furthermore, an interface may be provided that isconfigured to provide access to the level of charge of the power supplyand voltage of the power supply.

The electronic switch may utilize solid state electronics. In someimplementations, the electronic switch does not include any devices withmoving parts. The electronic switch may include one of a power MOSFET, asolid state relay, a power transistor, or an insulated gate bipolartransistor (IGBT).

The level of the charge of the power supply may be displayed with one ormore LED lights. Activation of a first LED light may indicate that thepower supply has between about 0% and about 25% power remaining.Activation of a second LED light may indicate that the power supply hasbetween about 25% and about 50% power remaining. Activation of a thirdLED light may indicate that the power supply has between about 50% andabout 75% power remaining. Activation of a fourth LED light may indicatethat the power supply has between about 75% and about 100% powerremaining.

The input device may include one of a button switch, a mechanicalswitch, a potentiometer, or a sensor. In some embodiments, the sensorincludes at least a touch sensor, photosensor, or audio sensor.

A power supply housing may be provided in accordance with embodiments ofthe invention, the power supply housing comprising a bottom memberhaving an opening at a first end and a cover member, the cover membersealing the opening of the bottom member, wherein the power supply isdisposed in the bottom member, and wherein the electronic switch, inputdevice, power measurement device and indication device are all disposedon a circuit board. The power supply may include a battery or a batterypack.

In some embodiments, a ratio between a weight of the power supplycircuit and the weight of the power supply is less than 1:11. The powersupply and power supply circuit combined may weigh less than about 400grams. The power supply may produce a current of at least about 100 mA.The power supply may produce a current of at most about 40 A. The UAVmay be capable of flying for at least about 25 minutes withoutrecharging.

A power supply control assembly may be provided in accordance withanother aspect of the invention. The power supply control may comprise:a power supply adapted to power an unmanned aerial vehicle (UAV); and amicrocontroller unit (MCU) coupled to the power supply and capable of atleast one of (i) controlling discharge of the power supply, (ii)calculating the level of charge of the power supply, (iii) protectingagainst a short circuit of the power supply, (iv) protecting againstover-charge of the power supply, (v) protecting against over-dischargeof the power supply, (vi) balancing the level of charge amongst thebatteries comprising the power supply, (vii) preventing charging of thepower supply at temperatures outside a temperature range, or (viii)communicating information with an external device.

Moreover, an aspect of the invention may be directed to an unmannedaerial vehicle (UAV), comprising: a propulsion unit to be powered; apower supply for powering the propulsion unit; and a microcontrollerunit (MCU) capable of at least one of (i) controlling discharge of thepower supply, (ii) calculating the level of charge of the power supply,(iii) protecting against a short circuit of the power supply, (iv)protecting against over-charge of the power supply, (v) protectingagainst over-discharge of the power supply, (vi) balancing the level ofcharge amongst one or more batteries comprising the power supply, (vii)preventing charging of the power supply at temperatures outside atemperature range, or (viii) communicating with an external device.

The MCU may be capable of at least two of (i)-(viii). The MCU may becapable of at least (i) and (ii). The MCU may be capable of at least(iv) and (v). The MCU may weigh less than about 1 gram.

In some embodiments, communicating with the external device comprisesproviding state information associated with the power supply to theexternal device. Communicating with the external device may furthercomprise receiving information from the external device.

A power supply circuit connected to the power supply may be provided,wherein the power supply discharges through the power supply circuit topower the unmanned aircraft, wherein the power supply circuit comprisesan electronic switch and an input device, the electronic switch beingelectrically connected to the power supply for controlling a power-on ora power-off of the power supply, the input device electrically connectedto the electronic switch for controlling a switch-on or a switch-offstate of the electronic switch.

The propulsion unit may include one or more rotors with rotatableblades, wherein the power supply causes rotation of the rotor includingthe blades, thereby generating a lift for the UAV.

In some embodiments, the power supply circuit may further comprise apower measurement device and an indication device, the power measurementdevice being electrically connected to the power supply and configuredto calculate a level of charge of the power supply, and the indicationdevice being electrically connected to the power measurement device andconfigured to indicate a percentage of the remaining charge of the powersupply. The power measurement device may comprise a current samplingdevice configured to collect current during discharge of the powersupply, and wherein the power measurement device is configured tocollect the current collected by the current sampling device andcalculate the level of charge of the power supply. The level of chargeof the power supply may be calculated based on measuring an amount ofenergy consumed. Alternatively, the level of charge of the power supplyis not calculated based on measurement of a voltage drop across thepower supply. Optionally, the indication device may comprise a pluralityof indicator lights and the number of simultaneously-lit indicatorlights may correspond to a percentage of the level of charge of thepower supply. Furthermore, an interface may be provided that isconfigured to provide access to the level of charge of the power supplyand voltage of the power supply.

The electronic switch may utilize solid state electronics. In someimplementations, the electronic switch does not include any devices withmoving parts. The electronic switch may include one of a power MOSFET, asolid state relay, a power transistor, or an insulated gate bipolartransistor (IGBT).

The level of the charge of the power supply may be displayed with one ormore LED lights. Activation of a first LED light may indicate that thepower supply has between about 0% and about 25% power remaining.Activation of a second LED light may indicate that the power supply hasbetween about 25% and about 50% power remaining. Activation of a thirdLED light may indicate that the power supply has between about 50% andabout 75% power remaining. Activation of a fourth LED light may indicatethat the power supply has between about 75% and about 100% powerremaining.

The input device may include one of a button switch, a mechanicalswitch, a potentiometer, or a sensor. In some embodiments, the sensorincludes at least a touch sensor, photosensor, or audio sensor.

A power supply housing may be provided in accordance with embodiments ofthe invention, the power supply housing comprising a bottom memberhaving an opening at a first end and a cover member, the cover membersealing the opening of the bottom member, wherein the power supply isdisposed in the bottom member, and wherein the electronic switch, inputdevice, power measurement device and indication device are all disposedon a circuit board. The power supply may include a battery or a batterypack.

In some embodiments, a ratio between a weight of the power supplycircuit and the weight of the power supply is less than 1:11. The powersupply and power supply circuit combined may weigh less than about 400grams. The power supply may produce a current of at least about 100 mA.The power supply may produce a current of at most about 40 A. The UAVmay be capable of flying for at least about 25 minutes withoutrecharging.

Further aspects of the invention may include a power supply controlassembly, comprising: a power supply; and an input device configured toreceive a user input to switch between a plurality of operational modesassociated with the power supply, said operational modes including atleast (i) activating display of a level of charge of the power supplyand (ii) turning on or turning off the power supply by turning on or offof an electronic switch in electrical communication with the powersupply. The power supply may be adapted to power an unmanned aerialvehicle (UAV).

The plurality of operational modes may further include communicatingwith an external device. Communicating with the external device maycomprise providing state information associated with the power supply tothe external device. In some cases, communicating with the externaldevice comprises receiving information from the external device.

An aspect of the invention may include method for managing a powersupply in accordance with another aspect of the invention, The methodmay comprise: receiving an input signal provided by a user of the powersupply; and in response to the input signal, selecting an operationalmode from a plurality of operational modes associated with the powersupply based at least in part one or more characteristics associatedwith the input signal, the plurality of operation modes including atleast (i) activating display of a level of charge of the power supplyand (ii) turning on or turning off the power supply by turning on or offof an electronic switch in electrical communication with the powersupply.

The power supply may be powered on or off without generating a spark.One or more characteristics associated with the input signal may includea length of time of the input signal. Selecting the operational modesmay optionally include comparing the input signal with a predeterminedsignal pattern.

In some embodiments, a power supply circuit may be connected to thepower supply, wherein the power supply discharges through the powersupply circuit to power the unmanned aircraft, wherein the power supplycircuit comprises an electronic switch, the electronic switch beingelectrically connected to the power supply for controlling a power-on ora power-off of the power supply.

In some embodiments, the power supply circuit may further comprise apower measurement device and an indication device, the power measurementdevice being electrically connected to the power supply and configuredto calculate a level of charge of the power supply, and the indicationdevice being electrically connected to the power measurement device andconfigured to indicate a percentage of the remaining charge of the powersupply. The power measurement device may comprise a current samplingdevice configured to collect current during discharge of the powersupply, and wherein the power measurement device is configured tocollect the current collected by the current sampling device andcalculate the level of charge of the power supply. The level of chargeof the power supply may be calculated based on measuring an amount ofenergy consumed. Alternatively, the level of charge of the power supplyis not calculated based on measurement of a voltage drop across thepower supply. Optionally, the indication device may comprise a pluralityof indicator lights and the number of simultaneously-lit indicatorlights may correspond to a percentage of the level of charge of thepower supply. Furthermore, an interface may be provided that isconfigured to provide access to the level of charge of the power supplyand voltage of the power supply.

The electronic switch may utilize solid state electronics. In someimplementations, the electronic switch does not include any devices withmoving parts. The electronic switch may include one of a power MOSFET, asolid state relay, a power transistor, or an insulated gate bipolartransistor (IGBT).

The level of the charge of the power supply may be displayed with one ormore LED lights. Activation of a first LED light may indicate that thepower supply has between about 0% and about 25% power remaining.Activation of a second LED light may indicate that the power supply hasbetween about 25% and about 50% power remaining. Activation of a thirdLED light may indicate that the power supply has between about 50% andabout 75% power remaining. Activation of a fourth LED light may indicatethat the power supply has between about 75% and about 100% powerremaining.

The input device may include one of a button switch, a mechanicalswitch, a potentiometer, or a sensor. In some embodiments, the sensorincludes at least a touch sensor, photosensor, or audio sensor.

A power supply housing may be provided in accordance with embodiments ofthe invention, the power supply housing comprising a bottom memberhaving an opening at a first end and a cover member, the cover membersealing the opening of the bottom member, wherein the power supply isdisposed in the bottom member, and wherein the electronic switch, inputdevice, power measurement device and indication device are all disposedon a circuit board. The power supply may include a battery or a batterypack.

In some embodiments, a ratio between a weight of the power supplycircuit and the weight of the power supply is less than 1:11. The powersupply and power supply circuit combined may weigh less than about 400grams. The power supply may produce a current of at least about 100 mA.The power supply may produce a current of at most about 40 A. The UAVmay be capable of flying for at least about 25 minutes withoutrecharging.

It shall be understood that different aspects of the invention can beappreciated individually, collectively, or in combination with eachother. Various aspects of the invention described herein may be appliedto any of the particular applications set forth below or for any othertypes of movable objects. Any description herein of an aerial vehicle orUAV may apply to and be used for any movable object, such as anyvehicle. Additionally, the systems, devices, and methods disclosedherein in the context of aerial motion (e.g., flight) may also beapplied in the context of other types of motion, such as movement on theground or on water, underwater motion, or motion in space.

Other objects and features of the present invention will become apparentby a review of the specification, claims, and appended figures.

INCORPORATION BY REFERENCE

All publications and patent applications mentioned in this specificationare herein incorporated by reference to the same extent as if eachindividual publication or patent application was specifically andindividually indicated to be incorporated by reference.

BRIEF DESCRIPTION OF THE DRAWINGS

The novel features of the invention are set forth with particularity inthe appended claims. A better understanding of the features andadvantages of the present invention will be obtained by reference to thefollowing detailed description that sets forth illustrative embodiments,in which the principles of the invention are utilized, and theaccompanying drawings of which:

FIG. 1 is a schematic circuit diagram of a vehicle of the disclosure;

FIG. 2 is a schematic diagram of a vehicle battery of the disclosure;

FIG. 3 is an exploded schematic view of the battery of FIG. 1;

FIG. 4 shows a front view illustration of a battery of the disclosure;

FIG. 5 shows a top view illustration of a battery of the disclosure;

FIG. 6 is a schematic circuit diagram of a vehicle of the disclosure;

FIG. 7 is a schematic diagram of a circuit board of the disclosure;

FIG. 8 is a flow-chart showing the steps of a method of the disclosure;

FIG. 9 illustrates an unmanned aerial vehicle, in accordance withembodiments;

FIG. 10 illustrates a movable object including a carrier and a payload,in accordance with embodiments; and

FIG. 11 is a schematic illustration by way of block diagram of a systemfor controlling a movable object, in accordance with embodiments.

DETAILED DESCRIPTION

The systems, methods, and devices of the present invention provide apower supply with a power supply control assembly and a device with thepower supply. In some cases, the device is a movable object, such as anunmanned aerial vehicle (UAV). The power supply may be or may include abattery or battery pack. A power supply control assembly may include apower supply circuit. The power supply control may overcome challengesrelated to lack of discharge control. The power supply circuit can beconnected to the power supply. The power supply can discharge throughthe power supply circuit. The power supply circuit can comprise anelectronic switch and an input device, with the electronic switch beingelectrically connected to the power source for controlling power on oroff of the power supply. The input device can be electrically connectedto the electronic switch for controlling the switched-on or switched-offstate of the electronic switch. Use of the electronic switch which mayutilize solid state electronics can prevent sparking from occurringduring charge or discharge of the power supply. For example, theelectronic switch includes one of a power MOSFET, a solid state relay, apower transistor, or an insulated gate bipolar transistor (IGBT). Theinput device which may communicate with the electronic switch. The inputdevice may include one or more of a button switch, mechanical switch,potentiometer, or sensor.

In accordance with an aspect of the invention, the power supply controlassembly can prevent the formation of a spark upon power-on or power-offof the device. In the case of UAVs, the current can be relatively high.The current from the power supply can be greater than or equal to about10 mA, 50 mA, 75 mA, 100 mA, 150 mA, 200 mA, 300 mA, 500 mA, 750 mA, 1A, 2 A, 5 A, 10 A, 15 A, 20 A, 30 A, or 40 A. The maximum currentsupplied from the power supply may be less than or equal to about 100mA, 150 mA, 200 mA, 300 mA, 500 mA, 750 mA, 1 A, 2 A, 5 A, 10 A, 15 A,20 A, 30 A, 40 A, 50 A, 60 Am, 70 A, or 100 A. The power supply may becapable of supplying current having a maximum or minimum value havingany of the values described herein, or falling within a range defined byany of the values described herein. The current from the power supplyused to power a movable object, such as a UAV, may be greater than orequal to a current used to power another electronic device, such as apersonal computer or laptop.

The power supply control assembly can have a number of useful features,or can interact with or be part of a UAV having a number of usefulfeatures. In some embodiments, connectors can make plugging the powersupply into another power source easy. For example, a power supply maybe connected to an external power supply that may charge the battery. Insome cases, a power supply level checker is integrated in the device.The power supply level checker can display the power supply charge levelwhenever the user desires, without the need of a multimeter or separatepower supply level detector device. For example a visual indicator maybe provided that shows the power supply level upon request orcontinuously. The power supply can also be safer than previous designsdue to short protection and protection against high current levels,which can be both integrated into the power supply control assembly.

In some embodiments, the power supply control assembly can achieve moreprecise estimation of the amount of remaining power in the power supplythan previous designs. Previous designs often estimate the battery levelby simply measuring the voltage. However, when a device to be powered isin operation, such when a UAV is flying, there can be a large voltagedrop when the motors are spinning and the measurement based on voltagecan be inaccurate. In contrast, the power supply system disclosed hereinmay determine the remaining battery power by monitoring the total energythat is consumed, which results in a more precise battery levelindication.

In some cases, the present power supply control assembly may be easierto recharge than previous designs. Optionally, all of the balancingcircuits and protection circuits are integrated inside the power supplycontrol assembly. The power supply control assembly, including thebalancing circuits and protection circuits, may be packaged with a powersupply, such as a battery. For example, a housing may partially orcompletely enclose the power supply and power supply control assembly.So all a user needs to do is to connect the charger to the power supplypackage which may include the power supply and power supply controlassembly. There is no need to be concerned with how many cells the powersupply has in serial and in parallel.

In some instances, the power supply has improved durability. The powersupply described herein can have a frame to protect one or more batterycells therein, such that the power supply can be dropped without harmingthe battery cells.

Optionally, the power supply described herein does not deplete itscharge when left un-plugged. A low voltage protection circuit inside thepower supply package turns the power supply and/or device off once thecharge is lower than a certain threshold.

A UAV powered by the power supply and power supply control assembly maybe able to fly for a long period of time and/or is able to fly a longdistance. In some cases, the UAV can fly for at least 5, at least 10, atleast 15, at least 20, at least 25, at least 30, at least 35, at least45, at least 60, at least 90, at least 120, at least 150, or at least180 minutes. Such times the UAV may be capable of flying may include aperiod of time of continuous flight after the power supply has beenfully charged. In some cases, the UAV can fly a distance of at least0.5, at least 1, at least 2, at least 3, at least 4, at least 5, atleast 6, at least 7, at least 8, at least 9, at least 10, at least 12,at least 14, at least 16, at least 18, at least 20, or at least 30miles. Such distances the UAV may be capable of flying may include adistance of continuous flight after the power supply has been fullycharged.

In some cases, the power supply circuit further comprises a powermeasurement device and indication device. The power measurement devicecan be electrically connected to the power source and configured tocalculate the remaining capacity of the power supply. The indicationdevice can be electrically connected to the power measurement device andconfigured to indicate a percentage of the remaining capacity of thepower supply.

The power measurement device may comprise a current sampling device. Thecurrent sampling device can be configured to collect current duringdischarge of the power supply. The power measurement device can beconfigured to collect the current collected by the current samplingdevice and perform calculations of the current collected by the currentsampling device to obtain the remaining capacity of the power supply.

The indication device may comprise a plurality of indicator lights. Thepower measurement device can be configured to divide the remainingcapacity of the power supply by the total capacity of the power supplyto obtain a percentage of the remaining capacity. In some embodiments,the number of simultaneously lit indicator lights corresponds to thepercentage of the remaining capacity of the power supply. Unlitindicator lights may correspond to a percentage capacity of the powersupply that has been used or discharged.

A power supply pack may include an interface configured to provideaccess to the remaining capacity information and voltage information ofthe power supply.

A control device may be provided as part of a power control system,where the control device is electrically connected to the power supply,electronic switch, input device and indication device.

The power supply pack may comprise a housing. The housing can comprise abottom member having an opening at one end and a cover member, the covermember sealing the opening of the bottom member, the power supplydisposed in the bottom member, the electronic switch, the input device,the power measurement device and the indication device all disposed on acircuit board.

Aspects of the invention may include a movable object, such as anaircraft (e.g., UAV), comprising equipment to-be-powered (e.g.,aircraft) and a battery, wherein the to-be-powered equipment iselectrically connected to the battery.

The power supply system as described herein can use electronic switchesto control the power, thereby avoiding the generation of sparks duringpower-on, allowing for the normal use of the power supply and safety ofthe aircraft.

With reference to FIG. 1, an object to be powered, such as a movableobject 100 (e.g., vehicle such as a UAV) may be provided in accordancewith an embodiment of the invention. Examples of a power supply pack ofthe disclosure are depicted in FIG. 2, FIG. 3, FIG. 4 and FIG. 5.

The movable objects and power supply packs of the disclosure can havepower supply power indication and discharge control. FIG. 1 is a blockdiagram of the movable object and a power supply pack having variousparts described in detail below, including a battery or battery pack 21,a current sampling resistor 222 a, a power MOSFET electronic switch 220,a button 221, four LED power indicator lights 223, an microcontrollerunit (MCU) 222 b, and a battery external interface 10.

A power supply may be provided to power the movable object or a portionof the movable object. The power supply may power one or more propulsionunits of the movable object. For example, the power supply may power oneor more rotors of a UAV that may provide lift to the UAV and enable itto fly. The power supply may power one or more communication system(e.g., communication system with a remote control) of the movableobject. The power supply may power a carrier that may be part of themovable object or coupled to the movable object. The power supply mayinclude a battery or battery pack. The battery or battery pack mayinclude one or more battery cells. The battery cells may beelectrochemical cells. The batteries may preferably be secondary(rechargeable) batteries. Alternatively, they may be primary(single-use) batteries. Batteries having any battery chemistry known orlater developed in the art may be used. In some instances, batteries maybe lead acid batteries, valve regulated lead acid batteries (e.g., gelbatteries, absorbed glass mat batteries), nickel-cadmium (NiCd)batteries, nickel-zinc (NiZn) batteries, nickel metal hydride (NiMH)batteries, or lithium-ion (Li-ion) batteries. The battery cells may beconnected in series, in parallel, or any combination thereof. Thebattery cells may be packaged together as a single unit or multipleunits.

In some embodiments, a MOSFET power element 220 is used as a device forcontrolling the output of the battery 21. In alternative embodiments,any electronic switch may be provided for controlling output of thebattery. An electronic switch may utilize solid state electronics tocontrol charge and discharge of the battery. In some instances, anelectronic switch has no moving parts and/or does not utilize anelectro-mechanical device (e.g., traditional relays or switches withmoving parts). In some instances, electrons or other charge carriers ofthe electronic switch are confined to a solid device. The electronicswitch may optionally have a binary state (e.g., switched-on or switchedoff). The use of an electronic switch may help prevent sparking whichcan cause damage to the power supply pack and/or movable object. Theelectronic switch may be used to control charge and/or discharge of thebattery or battery pack.

The button 221 may be used to control a state of the electronic switch.Any type of input device may be used in place of a button. The inputdevice may be button switch, mechanical switch, potentiometer, orsensor. The input device may have a binary state (e.g., on or off), ormay have three or more states. The input device may accept an inputdirectly from a user. For example, a user may manually interact with theinput device (e.g., pressing a button, flipping a switch, turning a knobor dial, touching a touch interface such as a touchscreen, speaking to amicrophone). Alternatively, the input device may receive a signalindicative of a user input. For example, a user may interact with aremote control that may relay a signal (e.g., wired or wireless signal)to the input device, which may in turn control a state of the electronicswitch. For example, the input device may be in communication with theelectronic switch to control a switched-on or switched-off state of theelectronic switch. In some instances, an input device may function as aninterface between a user input and control of the electronic switchwhich may selectively cause discharge of the power supply.

An MCU 222 b can be the control unit for achieving the overallfunctionality. It can connect to the input device, e.g., button input221, to determine if the user intends to turn on or off the electronicswitch, e.g., MOSFET 220. The on or off of the MOSFET 220 can becontrolled by the signals from the MCU 222 b. In some embodiments, theMCU may receive an input from the input device, and may use the inputfrom the input device to generate a signal to control the state of theelectronic switch.

In the negative discharge circuit, there can be a current samplingresistor 222 a (e.g., about 0.01 ohm) to capture the current during thecharge and discharge process. The MCU 222 b can capture the currentsignal at a high frequency and use an integration process to calculatethe power supply capacity. When the battery current sampling frequencyis low, the accuracy of the calculated battery capacity may be reduced.When the battery current sampling frequency is high, the accuracy of thecalculated battery capacity may be increased. In some implementations,the battery current sampling frequency may be about 0.3 Hz-100 kHz. Forexample, the battery current sampling frequency may be greater than orequal to about 0.3 Hz, 0.5 Hz, 1 Hz, 2 Hz, 3 Hz, 5 Hz, 7 Hz, 10 Hz, 15Hz, 20 Hz, 25 Hz, 30 Hz, 40 Hz, 50 Hz, 75 Hz, 100 Hz, 200 Hz, 500 Hz, 1kHz, 2 kHz, 3 kHz, 5 kHz, 10 kHz, 20 kHz, 50 kHz, 75 kHz, or 100 kHz.The battery current sampling frequency may be less than or equal toabout 10 Hz, 15 Hz, 20 Hz, 25 Hz, 30 Hz, 40 Hz, 50 Hz, 75 Hz, 100 Hz,200 Hz, 500 Hz, 1 kHz, 2 kHz, 3 kHz, 5 kHz, 10 kHz, 20 kHz, 50 kHz, 75kHz, 100 kHz, or 200 kHz.

In some embodiments, a level of a power supply may be determined as apercentage of the power supply capacity. The percentage of the powersupply capacity can be calculated by dividing the capacity of the powercapacity that remains by the total power supply capacity. In otherembodiments, the power supply capacity may be expressed in other terms,such as continuous-time-of use remaining (e.g., the length of time thepower supply can continue discharging at its discharge rate). Thedischarge rate may be the current rate of discharge, a previous rate ofdischarge, an average rate of discharge over a period of time, or anyother rate of discharge.

A power level indication device may be provided. For example, aplurality of indicator lights may be provided, where the number of litlights may correspond to a percentage of the power supply capacity thatremains. The number of unlit lights may correspond to a percentage ofthe power supply capacity that has been used or discharged. Any numberof indicator lights may be provided, which may determine the precisionof the percentage ranges that can be established. For example, the useof four power indicator lights may provide indication of the remainingpower level within the 25% range. The use of 5 power indicator lightsmay provide indication of the remaining power level within the 20%range. The use of N power indicator lights may provide indication of theremaining power level within the 100/N percent range. In someembodiments, four LED power indicator lights 223 indicate theapproximate percentage of battery power. For example, four lit lightscan represent that the battery has 75-100% power remaining, three litlights can represent 50-75% of the battery power, two lit lights canrepresent 25-50% of the battery power, and one lit light can represent0-25% of capacity. As such, the user can approximate the batterycapacity at the present moment in time. In other embodiments, othertypes of power level indicators may be provided. For example, an outputmay be provided showing a numerical value indicative of the power level.For example, the power level indication device may say 83%, when 83% ofthe power level remains, or may provide a range (e.g., 80-90%, when 83%of the power level remains). Other graphical indicators, such as colors,bars, levels, line graphs, icons may be used to provide a visualindication of the power level.

Positioning the battery indicator LED lights through a light guidemember passing to the outside of the battery can result in user-friendlyoperation. The battery indicator LED lights can be numbered in order.Light can be provided outside the battery via a light guide member tofacilitate user observation.

The power level may be displayed continuously, so the user may be ableto view the power level at any moment in time. Alternatively, the usermay be able to view the power level in response to a signal to show thepower level (e.g., the user presses a button that causes the power levelto light up, the user provides a voice command that causes the powerlevel to be displayed, a motion sensor detects the presence of a userand causes the power level to be displayed). The power level may bedisplayed on an external surface of a power supply pack, or an object tobe powered by the power supply pack. For example, a user may be able toview an external portion of a UAV and see the power level remaining forthe power supply for the UAV. The user may be able to view the powerlevel without requiring the use of any other external device. The usermay be able to view the power level without taking apart any portion ofthe UAV. The power level indicator may be self contained within a powersupply pack. The power level may be displayed on the power supply packwhen the power supply pack is connected or installed on the UAV. In someembodiments, the power level may be displayed on the power supply packeven when the power supply pack is not connected to or installed on theUAV.

The device can also be equipped with a data communication interface.Other electronic devices can obtain, through the interface, the currentbattery capacity information, voltage information and other information.Such information can be used to provide battery protectionfunctionalities.

As shown, the circuits for discharge control and power display can beformed into a circuit board. The circuit board can include all of thefunctionalities associated with discharge control and power calculationand display. For example, an MCU may be provided on or supported by thecircuit board. The power supply and the circuit board can be placedinside the same housing and the input device can be connected to thepower supply pack surface (e.g., battery or battery cell surface), e.g.,as a button, to allow user operation.

With reference to FIG. 1, FIG. 2, FIG. 3, the movable object 100includes a device 10 to be powered and a power supply pack 20. Thedevice to be powered 10 and the power supply pack 20 can be electricallyconnected. In some embodiments, the device 10 to be powered may includean input interface 11. The power supply pack 20 may be electricallyconnected to the input interface 11 to supply power to the device 10. Inthis embodiment, the movable object 100 may be an aircraft, such as aUAV.

The power supply pack 20 may include a power supply 21, a power supplycircuit 22 and a housing 23. The power supply circuit 22 may beelectrically connected to the power supply 21. In some embodiments, thepower supply circuit may be mechanically connected to the power supplyas well. The power supply 21 discharges via the power supply circuit 22.The power supply circuit 22 may comprise an electronic switch 220, aninput device 221, a battery testing device 222, an indication device223, an interface 224, and a control device 225.

The power supply 21 can comprise any type of battery, such as lithiumbattery, or any other type of battery described elsewhere herein. Insome cases, the power supply 21 may also be in the form of battery packor other types of UAV battery. The power supply 21 may includeelectrodes 1, 2, 3, and 4. In this case, the electrodes 1 and 2 arepositive and the electrodes 3 and 4 are negative. The power supply mayinclude one or more positive electrodes and one or more negativeelectrodes. In some embodiments, the same number of positive andnegative electrodes may be provided. One or more of the electrodes maybe directly or indirectly electrically connected to an electronicswitch, MCU, voltage regulator, voltage detector, or shunt resistor.

The interface 224 can be used to obtain signals of the currentlyremaining capacity and/or voltage of the power supply. In the presentembodiment, the interface 224 is connected in series between theelectrode 1 and the electrode 4 of the power source 21. Other electronicdevices can obtain, via the interface 224, the current capacityinformation of the power source 21, voltage information and otherinformation, and can use the data to implement the battery protection.

The connector interface 224 may be in electrical communication with theinput interface 11. This may provide electrical connection and/orcommunication with a device 10 to be powered. In some embodiments, apower supply pack may be a self contained package that may be insertedinto (or attached to) a movable object or removed from the movableobject. Different power supply packs may be swapped. Inserting the powersupply pack into the movable object (or attaching the power supply packto the movable object) may automatically cause the electricalconnections to come into contact with one another so that the powersupply can power a device to be powered on the movable object.

The electronic switch 220 can be electrically connected to the powersource 21, for controlling on-off of the power source 21. In the presentembodiment, the electronic switch 220 can be selected from any of powerMOSFET, solid state relays, power transistor and an insulated gatebipolar transistor (IGBT). Specifically, the electronic switch 220 isconnected in series between the electrode 4 of the power source 21 andthe interface 224. The source 221 of the electronic switch 220 is inseries with the electrode 4. The drain 220 b of the electronic switch220 is connected in series with the interface 224. The gate of theelectronic switch 220 is controlled by the microcontroller 220 c. Theinput interface 11 of the to-be-powered device 10 is electricallyconnected to the power supply 21 via the interface 224. In someembodiments, the electronic switch 220 can also use other forms ofmechanical relay or non-mechanical contact switch.

The input device 221 can be electrically connected to the electronicswitch 220 to control the switch-on and off state of the electronicswitch 220. The input device 221 can include a key switch, mechanicalswitch, potentiometer or sensors. When using the sensor, the sensor maybe a pressure sensor, barometric pressure sensor, proximity sensor,electrostatic sensor, capacitive touch sensor or other sensing device.In the present embodiment, the input device 221 using the key pressswitch.

The power measurement device 222 is electrically connected to the powersupply 21, for calculating the power of the power supply 21. In thepresent embodiment, the power measurement device 222 includes a currentsampling device 222 a. The current sampling device 222 a may beconfigured to collect the current during discharge of the power source21, the power measurement device 222 is used to obtain the collectedcurrent by the current sampling device 222 a, calculate the currentcollected by the current sampling device 222 a using integration, toobtain a current remaining power of the power source 21. Specifically,the current sampling device 222 a can be a 0.01 ohm resistor. Thecurrent sampling device 222 a may be connected in series to between theelectrode 4 and the source 221 of the electronic switch 220.

The control device 225 can be electrically connected to the power supply21, electronic switch 220, input device 221 and the indication device223. In the present embodiment, the control device 225 may be amicro-controller, the power electrode VCC and the negative electrodeBAT-VCC of the control device 225 are electrically connected,respectively, to the electrodes 2 and 3 of the power source 21 via thevoltage regulator 9. The SDA pin and the SCL pin of the control device225 are electrically connected to the interface 224 in order totransmit, to the interface 224, signals representing the collectedcurrently remaining capacity and voltage of the power supply 21. The ADpin of the control device 225 is connected between the current samplingdevice 222 a and the source 221 of the electronic switch 220 via thefilter amplifier 8 to collect, at a high frequency, the current signalsof the current sampling device 222 a. IO4 pin of the control device 225may be connected in series with the source 221 of the electronic switch220 via the MOS driver 7. The IO5 pin of the control device 225 can beelectrically connected to the input device 221. The IO0 through IO3 pinsof the control device 225 can be electrically connected to theindication device 223. The input device 221 controls the switch on/offstate of the electronic switch 220 by sending signals to the controldevice 225. In some embodiments, the control device 225 can be omitted.The to-be-powered device 10 can be directly connected to the powersource 21 and the electronic switch 220. The gate 220 c of theelectronic switch 220 is directly connected in series with the inputdevice 221.

The indication device 223 is electrically connected to the powermeasurement device 222 to indicate a percentage of the currentlyremaining charge of the power supply 21. The indication device 223includes a plurality of indicator lights (not shown). The powermeasurement device 223 is also used to divide the currently remainingcapacity of the power supply by a total capacity of the power supply toobtain a percentage of the currently remaining charge. The number ofsimultaneously-lit indicator lights corresponding to the percentage ofthe currently remaining capacity of the power supply. Specifically, inthis embodiment, the indicating means 223 includes four powerindicators, which are LED lights. One lit light indicates that thepercentage of the remaining charge is 25%. When all four of the powerindicator lights are on, it means that the battery 20 has 75-100%remaining charge. Three lit indicator lights means that the battery 20has 50-75% remaining charge. Two lit indicator lights means that thebattery 20 has 25-50% remaining charge. One lit indicator light meansthat the battery 20 has 0-25% remaining charge. This allows users toroughly understand how much remaining charge the battery has.

In other embodiments of the present invention, the indication device 223includes a LCD monitor or other display device for indicating thecurrent percentage of remaining charge.

The housing 23 includes a bottom casing 23 a and a cover member 23 b.The bottom casing 23 a is formed by coupling two semi-rectangularcasings 23 c. The rectangular casing 23 d has a venting opening. Thepower source 21 is disposed at the bottom of the bottom casing 23 a. Thecover member 23 b seals the opening of the bottom casing 23. Theelectronic switch 220, input device 221, the power measurement device222, indication device 223 and the interface 224 set on the circuitboard 5. The circuit board 5 is connected to the power source 21 via thefixing plate 4. To facilitate guiding light for the indication device223, the battery 20 further includes a light guide module 4, the lightguide module 4 is made of transparent acrylic material, passing throughthe through hole of the cover member 23 b and is affixed to the cover 23b, allowing the light from the indicator lights of the indication device223 to pass through the cover 23 b.

The present invention uses electronic switch to control the power on/offof the battery, thereby avoiding the generation of sparks during thepower on process, ensuring the normal use of the battery and the safetyof the aircraft. To facilitate operating the input device 221, thebattery 20 further includes push buttons 3.

The battery described herein can calculate and display the presentcapacity of the battery, solving the problem of access to the presentcapacity of the battery. Further, the battery can be equipped with aninterface, so that other electronic equipment can obtain the presentstatus of the battery using the interface to implement furtherfunctionalities (e.g., for battery protection).

FIG. 2 shows a perspective view of a power supply pack 20 in accordancewith an embodiment of the invention. The power supply pack may have ahousing that may partially or completely enclose a power supply and or apower supply circuit. The power supply pack may be a self containedpackage that may be inserted into a portion of a movable object, such asa UAV, and/or separated from the movable object. A bottom casing 23 amay be provided as part of the housing. Optionally, the bottom casingmay be inserted into the movable object and is not exposed uponinsertion. In some embodiments, the power supply pack may have a covermember 23 b that may form an exterior surface or side that may remainexposed even when the power supply pack is inserted or connected to themovable object. The cover member 23 b may have one or more power levelindicators, such as indicator lights and/or an input device 221 such asa button. In some embodiments, the power level indicator may remainvisible so that a user can easily check the level of the power supply.The input device may remain accessible so that the user can interactwith the input device without having to adjust the power supply pack.FIG. 3 provides an exploded view of the power supply pack. FIG. 4provides a view of the cover member of the power supply pack. FIG. 5provides a top view of the of the power supply pack.

In some embodiments, a power supply pack may be of a low weight. Thismay be advantageous for movable object applications, such as UAVs. Inone example, the power supply pack may weigh less than about 1 gram, 5grams, 10 grams, 15 grams, 20 grams, 25 grams, 30 grams, 35 grams, 40grams, 45 grams, 50 grams, 60 grams, 70 grams, 80 grams, 90 grams, 100grams, 120 grams, 150 grams, 200 grams, 250 grams, 300 grams, 330 grams,340 grams, 350 grams, 375 grams, 400 grams, 450 grams, 500 grams, 600grams, or 700 grams. In some embodiments, the housing of the powersupply pack plus the weight of the power supply circuit may be less thanabout 1 gram, 5 grams, 10 grams, 15 grams, 20 grams, 25 grams, 30 grams,35 grams, 40 grams, 45 grams, 50 grams, 60 grams, 70 grams, 80 grams, 90grams, or 100 grams. Optionally, the weight of the power supply plus thepower supply circuit may be less than 1 gram, 5 grams, 10 grams, 15grams, 20 grams, 25 grams, 30 grams, 35 grams, 40 grams, 45 grams, 50grams, 60 grams, 70 grams, 80 grams, 90 grams, 100 grams, 120 grams, 150grams, 200 grams, 250 grams, 300 grams, 330 grams, 340 grams, 350 grams,375 grams, 400 grams, 450 grams, or 500 grams. The weight of the housingof the power supply pack may be less than or equal to about 1 gram, 5grams, 10 grams, 12 grams, 15 grams, 17 grams, 20 grams, 25 grams, 30grams, 35 grams, 40 grams, 45 grams, 50 grams, 60 grams, 70 grams, 80grams, 90 grams, or 100 grams. The ratio of the weight of the housing ofthe power supply pack plus the power supply circuit to the weight of thepower supply may be less than or equal to about 1:50, 1:40, 1:30, 1:20,1:15, 1:12, 1:11, 1:10, 1:9, 1:8, 1:7, 1:6, 1:5, 1:4, or 1:3. The powersupply pack may include a MCU. The MCU may weigh less than or equal toabout 0.01 grams, 0.05 grams, 0.1 grams, 0.5 grams, 0.7 grams, 0.8grams, 0.9 grams, 1 gram, 2 grams, 3 grams, 5 grams, 7 grams, 10 grams,15 grams, or 20 grams.

In some embodiments, the power supply pack may be coupled to a movableobject. The movable object may be lightweight. For example, the movableobject may be a UAV. A UAV may have longer battery life if the UAVand/or battery are lightweight. The movable object may be of a weightthat can be carried in one hand or two hands by a human being. In someembodiments, the movable object, such as a UAV, may weigh less thanabout 100 grams, 150 grams, 200 grams, 250 grams, 300 grams, 500 grams,750 grams, 1 kg, 1.1 kg, 1.2 kg, 1.3 kg, 1.4 kg, 1.5 kg, 1.7 kg, 2 kg,2.5 kg, 3 kg, 4 kg, or 5 kg. In some embodiments, the movable object mayweigh more than about 10 grams, 50 grams, 100 grams, 150 grams, 200grams, 250 grams, 300 grams, 400 grams, 500 grams, 750 grams, 1 kg, 1.1kg, 1.2 kg, or 1.3 kg. The weight of the movable object may include theweight of the movable object without the power supply, or may includethe weight of the movable object with the power supply. The weight ofthe power supply may less than or equal to about 1 gram, 5 grams, 10grams, 15 grams, 20 grams, 25 grams, 30 grams, 35 grams, 40 grams, 45grams, 50 grams, 60 grams, 70 grams, 80 grams, 90 grams, 100 grams, 120grams, 150 grams, 200 grams, 250 grams, 300 grams, 330 grams, 340 grams,350 grams, 375 grams, 400 grams, 450 grams, or 500 grams. The ratio ofthe weight of the power supply to the weight of the movable object maybe less than or equal to about 1:30, 1:20, 1:15, 1:12, 1:11, 1:10, 1:9,1:8, 1:7, 1:6, 1:5, 1:4, 1:3, or 1:2. The ratio of the weight of thepower supply pack to the weight of the movable object may be less thanor equal to about 1:30, 1:20, 1:15, 1:12, 1:11, 1:10, 1:9, 1:8, 1:7,1:6, 1:5, 1:4, 1:3, or 1:2. The ratio of the weight of the power supplyhousing plus the power supply circuit to the weight of the movableobject may be less than or equal to about less than or equal to about1:100, 1:70, 1:50, 1:40, 1:30, 1:20, 1:15, 1:12, 1:11, 1:10, 1:9, 1:8,1:7, 1:6, 1:5, or 1:4.

Referring to FIG. 6, a movable object 300, such as a vehicle (e.g.,UAV), is provided in accordance with another embodiment of theinvention. The movable object 300 may be similar to the movable object100 of other embodiments. Optionally, the to-be-powered device 310 maybe directly connected between an electrode 301 of the power supply 321couple to the electronic switch 320. The electronic switch 320 may bedirectly or indirectly controlled by the input device 321.

The power supply pack of the present disclosure can be equipped with amulti-functional circuit board. Many features can be achieved by designof the circuit board. FIG. 7 shows a schematic drawing of the systemschematic. The BATT1 705, BATT2 710, BATT3 715 on the left may be threeseparate battery cores, the dotted lined portion may be an externalcharger 720, and DR1 may be electrical equipment to be powered 725. Theremaining part may be the schematic of the multi-functional circuitboard of the power supply pack. The power supply pack can be designedsuch that at any given moment, it can only be connected to theelectrical equipment or the charger. For example, at a given moment, itmay either be connected to a movable object or may be connected to acharger. Alternatively, the power supply pack may be configured so thatit can be connected to a charger while also connected to the movableobject.

Without limitation, the circuit board can be used to achieve any one ormore of the following nine functions: (a) discharge control, (b) chargecalculation, (c) indication of charge percentage, (d) short circuitprotection, (e) overcharge protection, (f) over discharge protection,(g) core voltage balancing, (h) communication with other devices, and(i) charging temperature protection. Further description is provided foreach of the nine functions of the circuit board. In some instances, thecircuit board may include an MCU that may be capable of performing oneor more of the nine functions described. In some instances, the MCU maybe capable of performing, two or more, three or more, four or more, fiveor more, six or more, seven or more, eight or more, or all nine of thefunctions described. The MCU may be able to effect any combination ofthe nine functions, such as but not limited to: (a) discharge controland (b) charge calculation, (d) short circuit protection and (e)overcharge protection, (a) discharge control and (c) indication ofcharge percentage, (a) discharge control and (d) short circuitprotection, (a) discharge control and (e) over discharge protection, orany other combinations of the functions.

Discharge control can be achieved with the circuit board. As shown inFIG. 7, the circuit board can be equipped with a button S1 730, aprocessor MCU 735, a discharge control MOSFET Q1 740, and a chargecontrol MOSFET Q2 745. In the off state, Q1 is closed and Q2 is open.The process for discharge control can be as follows: when the MCUdetects that the key S1 is pressed, the MCU determines whether thesignal from S1 indicates that the user wishes to turn on the battery. Ifyes, then the MCU controls Q1 and Q2. Thus, the negative electrode ofthe battery pack is connected to the negative electrode of theelectrical equipment, allowing the electrical equipment to work. Thatis, the battery begins external output. Conversely, if the MCU detectsthat the signal from S1 indicates that the user wants to shut down thebattery, then the MCU will close Q1 to cut off the negative wire betweenthe battery and electrical equipment, so that electrical equipment stopsworking.

Charge calculation can be achieved with the circuit board. Batterycharge refers to the total charge the battery can output, oftenexpressed in units of Ampere-hours. To determine the charge of thebattery inside, a current sampling circuit can be used. As shown in FIG.7, the resistor R10 750 is a sensor used to sample the size of currentalong the negative electrode line. The MCU can include a module forconverting analog signals to digital signals, wherein AD4 755 is aninput pin of the analog-to-digital conversion module. AD4 can collectthe voltage of the resistor, and calculate the current in accordancewith the relationship between voltage and current (i.e., I=V/R, where Iis current, V is voltage and R is resistance). The relationship betweencharge and current is Q=I*t, where Q is charge, I is current and t istime. The MCU can periodically collect the signal, for example, onceevery t time. The change in charge during the charge or dischargeprocess is Q₁=ΣI*t, assuming the original battery capacity is Q₀, thenthe charge is Q=Q₁+Q₀. If the battery's total capacity is Q_(ALL), then,the percentage of current charge is P=Q_(ALL)/Q.

Charge percentage indication can be achieved with the circuit board. Themulti-functional protective board can calculate the percentage ofcurrently remaining charge. In some embodiments, the charge informationis displayed to the user. When the MCU 735 detects, based on the signalsfrom S1 730, that the user wants to check the charge, then the MCU cancontrol the on and/or off of the LED lights D1˜D4 760 to indicate therange of the current charge. For example, if only the leftmost LED lightis lit, then about 25% of the charge remains. If the leftmost two LEDlights are lit, then about 50% of the charge remains, and so on.Therefore, the user can determine the percentage of remaining charge byviewing the status of LED lights.

Short circuit protection can be achieved with the circuit board. Whenthe power supply output short circuits, the current can be between about100 amps and 200 amps. Therefore, a short circuit has occurred when thecurrent is greater than about 100 amps. A threshold current value may beprovided (e.g., 30 amps, 40 amps, 50 amps, 60 amps, 70 amps, 80 amps, 90amps, or 100 amps). If the threshold current value is exceeded the powersupply discharge may be stopped. The power supply discharge may bestopped via use of the electronic switch. In such a case, the powersupply output is shut off to prevent fire, explosion, or other issuescaused by the battery short circuit. An embodiment is shown in FIG. 7,the resistor R10 750 is used to collect the current along the negativeelectrode line and AD4 755 can convert the current signal to digitalsignals understood by the MCU 735. When the AD4 detects that the currentis more than a predetermined current, the MCU will close Q1 740 in orderto protect the battery.

Overcharge protection can be achieved with the circuit board. In somecases, the battery can deteriorate quickly when overcharged. One of themost direct indications of overcharge is that the voltage of a givencore is higher than the maximum voltage of the same type of battery. Inthis case, charging of the core is stopped to protect the core. As shownin FIG. 7, AD1 760, AD2 765, AD3 770, can be calculated from the voltageof each respective battery core. If the voltage of a given battery coreis higher than the prescribed voltage, the MCU 735 can cut off Q2 745 tostop charging.

Over discharge protection can be achieved with the circuit board. Insome cases, the battery can deteriorate quickly if discharged below acertain voltage (i.e., over-discharge). The battery can be shut downwhen the voltage of the battery reaches the over-discharge voltage. Asshown in FIG. 7, AD1 760, AD2 765, AD3 770 can detect the voltage ofeach cell/core, if the voltage of a given battery reaches theover-discharge voltage, the MCU 735 closes Q1 740 to cut off the outputof the external battery to achieve protection of the battery.

Cell voltage balancing can be achieved with the circuit board. Sinceeach cell has slightly different parameters, especially in the case ofprolonged use, the voltage of each cell can be inconsistent. In suchcases, the battery can gradually become severely imbalanced, and thebattery capacity can decline and/or the total discharge voltage of thebattery can be reduced, seriously affect the battery performance. Tothis end, the voltage of each cell can be controlled within a reasonablerange. As shown in FIG. 7, AD1 760, AD2 765, and AD3 770 can measure thevoltage of each cell V1, V2, and V3, respectively. When V1, V2, or V3exceeds a certain value, the given cell can be discharged withoutdischarge of the others via a transistor and resistor connected to thebattery so as to reduce the voltage of the given cell to be similar tothat of the other cells, thereby achieving a balance among thebatteries.

Communication with other devices can be achieved with the circuit board.A communication interface can be set up for the battery pack, SDA 775and SCL 780. This can be a set of standard I²C communication interfacesfor communicating with external devices. The communication interface cantransmit the charge of the battery, the percentage of power, current,voltage, temperature and other information to other devices (e.g., sothat the other devices can obtain the current state of the battery inreal time).

Charging temperature protection can be achieved with the circuit board.In some cases, the optimal charging temperature for the batteries rangesfrom 0 degrees Celsius to 45 degrees Celsius. Charging the batteriesbeyond this temperature range can slowly damage the batteries.Therefore, as shown in FIG. 7, a temperature sensor RT1 785 can measurethe ambient temperature and express temperature changes as voltagechanges. The voltage can be collected by AD5 790 and converted totemperature by the MCU 735. When the temperature detected by the MCUfalls outside the allowable charging temperature range, the MCU can turnoff the Q2 745 to stop charging.

The MCU can collect press-key input signals. In order to prevent usererrors, mechanisms may be provided for preventing false triggering byusers. When the battery is shut down, the MCU can control the switch-offof the electronic switch (e.g., MOSFET) via the corresponding IO pin795. When the key is pressed for the first time, the MCU can control theLED lights to display the battery power. If the key is pressed againwithin 2 seconds and remains pressed for at least 2 seconds, the MCU candetermine that the user wants to turn on the battery. Therefore, the MCUcan control the MOSFET to the output state via the corresponding IO pinsconnected to the MOSFET. In response, the battery starts discharging. Insome cases, implementation of the described embodiments adds about 20grams to a 300 gram battery.

The electronic device installed with the battery (as shown in FIG. 7)can use an electronic switch, such as a power MOSFET, as the controlelement for battery discharge (i.e., the equivalent of a solid staterelay). Since solid state relays are non-contact relays, no spark isgenerated during the on-off state switching process. The electronicdevice is also equipped with buttons and other input elements, andcomputer processor. A user can input operation information via thebuttons. The signal collected by the processor can be used to controlthe on or off of the MOSFET, in order to achieve control of the batterydischarge. Switches and other similar elements can be used to directlycontrol the on or off of the MOSFET to achieve power on withoutgeneration of sparks.

With this battery, problems related to burning and erosion of interfacelocations by sparks and the resulting increased resistance and poorconnection are addressed, so that the system can provide a stable powersupply.

A flow-chart showing a method for operating the power supply is shown inFIG. 8. At the beginning of the method 805, a control signal is obtainedfrom an input device (e.g., a button) 810. The control signal can berelayed to a decision point 815 where it can be determined whether thecontrol signal is an on/off signal. If the control signal is an on/offsignal, the on/off state of the electronic switch is changed 820 (e.g.,from off to on, or from on to off). Changing the on/off state of theelectronic switch then changes the on/off state of the power supply 825.The method can then end 830 until another control signal is obtainedfrom the input device 805. If it is determined that the control signalis not an on/off signal, it can then be determined whether the controlsignal is an indicator signal 835 (e.g., the level of charge of thepower supply is desired to be displayed). If the control signal is notan indicator signal, the method can be ended 830. If the control signalis an indicator signal, the remaining amount of charge of the batterycan be determined 840 and displayed to the user 845 (e.g., by lighting1, 2, 3 or 4 LED lights).

A power supply system may be capable of operating in one or more modes.In some instances, a plurality of operational modes may be presented fora power supply system. Different operational modes may cause differentactions to be taken by a power supply pack. A user may be able to switchbetween the different operational modes by providing an input. The inputmay be provided to an input device of the power supply pack. Forexample, a user may depress a button on the power supply pack. Pressingthe button may switch the operational mode of the power supply pack. Theinput may be provided manually and directly by the user. In anotherexample, a user may provide an input to a remote control that maycommunicate with an input device of the power supply pack. The input maybe provided indirectly by a user that need not interact manually withthe input device. The user input may be indicative of which operationalmode to switch to, or may provide an indication to switch to a nextoperational mode in a sequence of operational modes.

In one example, a plurality of operational modes may be available for apower supply system. Providing a user input, such as a depression of aninput device, may cause the power supply pack to cycle to the nextoperational mode in a series of operational modes. Optionally, when apower supply pack is first powered on or connected to a movable object,a default operational mode may be provided. A predetermined sequence ofoperational modes may be provided. A user may step to the nextoperational mode in the sequence by providing a user input. For example,the predetermined sequence may include Operational Mode A, OperationalMode B, Operational Mode C, and Operational Mode D which may cycle inorder. If the power supply system is currently operating underOperational Mode B, an input from a user may step to the nextoperational mode, Operational Mode C. For example, a user may depress abutton input device to move to the next operational mode. Alternatively,a predetermined sequence need not be provided, or a user may be able toskip between desired operational modes by providing an input indicativeof the desired operational mode. For example, a user may be presentedwith a menu of options (e.g., Operational Mode A, Operational Mode B,Operational Mode C, and Operational D) and select the desiredoperational mode from the options.

Various example of operational modes may include a mode of activating adisplay of a level of charge of the power supply, turning on or turningoff the power supply by turning on or off an electronic switch inelectrical communication with the power supply, communicating with anexternal device (e.g., providing state information associated with thepower supply to an external device, receiving information from theexternal device), comparing an input signal with a predetermined signalpattern, or any other functions. In some instances, two or more, threeor more, four or more, five or more, or six or more operational modesmay be provided.

In response to an input signal, the power supply pack may switch betweendifferent operational modes. In response to the input signal, anoperational mode may be selected from a plurality of operational modesassociated with the power supply. In some instances, the operationalmode may be switched or selected based on a characteristic associatedwith the input signal. For example, the characteristic may include alength of time of the input signal. In another example, thecharacteristic may include the data conveyed in the input signal. Thecharacteristic may include a pattern provided in the input signal. Forexample, if an input device is a button, depressing the button oncequickly vs. holding it down for a long period of time may be differentcharacteristics that may yield a switch to or selection of a differentoperational mode. For example, a quick depression of the button maycause the operational mode to switch between powering on and poweringoff. Holding the button down for an extended period of time may cause alevel of charge of the power supply to be displayed or turned off.

The systems, devices, and methods described herein can be applied to awide variety of movable objects. As previously mentioned, anydescription herein of an aerial vehicle such as UAV may apply to and beused for any movable object. A movable object of the present inventioncan be configured to move within any suitable environment, such as inair (e.g., a fixed-wing aircraft, a rotary-wing aircraft, or an aircrafthaving neither fixed wings nor rotary wings), in water (e.g., a ship ora submarine), on ground (e.g., a motor vehicle, such as a car, truck,bus, van, motorcycle; a movable structure or frame such as a stick,fishing pole; or a train), under the ground (e.g., a subway), in space(e.g., a spaceplane, a satellite, or a probe), or any combination ofthese environments. The movable object can be a vehicle, such as avehicle described elsewhere herein. In some embodiments, the movableobject can be mounted on a living subject, such as a human or an animal.Suitable animals can include avines, canines, felines, equines, bovines,ovines, porcines, delphines, rodents, or insects.

The movable object may be capable of moving freely within theenvironment with respect to six degrees of freedom (e.g., three degreesof freedom in translation and three degrees of freedom in rotation).Alternatively, the movement of the movable object can be constrainedwith respect to one or more degrees of freedom, such as by apredetermined path, track, or orientation. The movement can be actuatedby any suitable actuation mechanism, such as an engine or a motor. Theactuation mechanism of the movable object can be powered by any suitableenergy source, such as electrical energy, magnetic energy, solar energy,wind energy, gravitational energy, chemical energy, nuclear energy, orany suitable combination thereof. The actuation mechanism may be poweredby a power supply as described herein. The power supply may optionallybe coupled to a power supply circuit. The movable object may beself-propelled via a propulsion system, as described elsewhere herein.The propulsion system may optionally run on an energy source, such aselectrical energy, magnetic energy, solar energy, wind energy,gravitational energy, chemical energy, nuclear energy, or any suitablecombination thereof. Alternatively, the movable object may be carried bya living being. The propulsion unit may be powered by a power supplycontrolled by a power supply circuit as described elsewhere herein.

In some instances, the movable object can be a vehicle. Suitablevehicles may include water vehicles, aerial vehicles, space vehicles, orground vehicles. For example, aerial vehicles may be fixed-wing aircraft(e.g., airplane, gliders), rotary-wing aircraft (e.g., helicopters,rotorcraft), aircraft having both fixed wings and rotary wings, oraircraft having neither (e.g., blimps, hot air balloons). A vehicle canbe self-propelled, such as self-propelled through the air, on or inwater, in space, or on or under the ground. A self-propelled vehicle canutilize a propulsion system, such as a propulsion system including oneor more engines, motors, wheels, axles, magnets, rotors, propellers,blades, nozzles, or any suitable combination thereof. In some instances,the propulsion system can be used to enable the movable object to takeoff from a surface, land on a surface, maintain its current positionand/or orientation (e.g., hover), change orientation, and/or changeposition.

The movable object can be controlled remotely by a user or controlledlocally by an occupant within or on the movable object. In someembodiments, the movable object is an unmanned movable object, such as aUAV. An unmanned movable object, such as a UAV, may not have an occupantonboard the movable object. The movable object can be controlled by ahuman or an autonomous control system (e.g., a computer control system),or any suitable combination thereof. The movable object can be anautonomous or semi-autonomous robot, such as a robot configured with anartificial intelligence.

The movable object can have any suitable size and/or dimensions. In someembodiments, the movable object may be of a size and/or dimensions tohave a human occupant within or on the vehicle. Alternatively, themovable object may be of size and/or dimensions smaller than thatcapable of having a human occupant within or on the vehicle. The movableobject may be of a size and/or dimensions suitable for being lifted orcarried by a human. Alternatively, the movable object may be larger thana size and/or dimensions suitable for being lifted or carried by ahuman. In some instances, the movable object may have a maximumdimension (e.g., length, width, height, diameter, diagonal) of less thanor equal to about: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m. Themaximum dimension may be greater than or equal to about: 2 cm, 5 cm, 10cm, 50 cm, 1 m, 2 m, 5 m, or 10 m. For example, the distance betweenshafts of opposite rotors of the movable object may be less than orequal to about: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m.Alternatively, the distance between shafts of opposite rotors may begreater than or equal to about: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m,or 10 m.

In some embodiments, the movable object may have a volume of less than100 cm×100 cm×100 cm, less than 50 cm×50 cm×30 cm, or less than 5 cm×5cm×3 cm. The total volume of the movable object may be less than orequal to about: 1 cm³, 2 cm³, 5 cm³, 10 cm³, 20 cm³, 30 cm³, 40 cm³, 50cm³, 60 cm³, 70 cm³, 80 cm³, 90 cm³, 100 cm³, 150 cm³, 200 cm³, 300 cm³,500 cm³, 750 cm³, 1000 cm³, 5000 cm³, 10,000 cm³, 100,000 cm³, 1 m³, or10 m³. Conversely, the total volume of the movable object may be greaterthan or equal to about: 1 cm³, 2 cm³, 5 cm³, 10 cm³, 20 cm³, 30 cm³, 40cm³, 50 cm³, 60 cm³, 70 cm³, 80 cm³, 90 cm³, 100 cm³, 150 cm³, 200 cm³,300 cm³, 500 cm³, 750 cm³, 1000 cm³, 5000 cm³, 10,000 cm³, 100,000 cm³,1 m³, or 10 m³.

In some embodiments, the movable object may have a footprint (which mayrefer to the lateral cross-sectional area encompassed by the movableobject) less than or equal to about: 32,000 cm², 20,000 cm², 10,000 cm²,1,000 cm², 500 cm², 100 cm², 50 cm², 10 cm², or 5 cm². Conversely, thefootprint may be greater than or equal to about: 32,000 cm², 20,000 cm²,10,000 cm², 1,000 cm², 500 cm², 100 cm², 50 cm², 10 cm², or 5 cm².

In some instances, the movable object may weigh no more than 1000 kg.The weight of the movable object may be less than or equal to about:1000 kg, 750 kg, 500 kg, 200 kg, 150 kg, 100 kg, 80 kg, 70 kg, 60 kg, 50kg, 45 kg, 40 kg, 35 kg, 30 kg, 25 kg, 20 kg, 15 kg, 12 kg, 10 kg, 9 kg,8 kg, 7 kg, 6 kg, 5 kg, 4 kg, 3 kg, 2 kg, 1 kg, 0.5 kg, 0.1 kg, 0.05 kg,or 0.01 kg. Conversely, the weight may be greater than or equal toabout: 1000 kg, 750 kg, 500 kg, 200 kg, 150 kg, 100 kg, 80 kg, 70 kg, 60kg, 50 kg, 45 kg, 40 kg, 35 kg, 30 kg, 25 kg, 20 kg, 15 kg, 12 kg, 10kg, 9 kg, 8 kg, 7 kg, 6 kg, 5 kg, 4 kg, 3 kg, 2 kg, 1 kg, 0.5 kg, 0.1kg, 0.05 kg, or 0.01 kg.

In some embodiments, a movable object may be small relative to a loadcarried by the movable object. The load may include a payload and/or acarrier, as described in further detail below. In some examples, a ratioof a movable object weight to a load weight may be greater than, lessthan, or equal to about 1:1. In some instances, a ratio of a movableobject weight to a load weight may be greater than, less than, or equalto about 1:1. Optionally, a ratio of a carrier weight to a load weightmay be greater than, less than, or equal to about 1:1. When desired, theratio of an movable object weight to a load weight may be less than orequal to: 1:2, 1:3, 1:4, 1:5, 1:10, or even less. Conversely, the ratioof a movable object weight to a load weight can also be greater than orequal to: 2:1, 3:1, 4:1, 5:1, 10:1, or even greater.

In some embodiments, the movable object may have low energy consumption.For example, the movable object may use less than about: 5 W/h, 4 W/h, 3W/h, 2 W/h, 1 W/h, or less. In some instances, a carrier of the movableobject may have low energy consumption. For example, the carrier may useless than about: 5 W/h, 4 W/h, 3 W/h, 2 W/h, 1 W/h, or less. Optionally,a payload of the movable object may have low energy consumption, such asless than about: 5 W/h, 4 W/h, 3 W/h, 2 W/h, 1 W/h, or less. The movableobject, carrier, and or payload may be powered by a power supply asdescribed elsewhere herein.

FIG. 9 illustrates an unmanned aerial vehicle (UAV) 900, in accordancewith embodiments of the present invention. The UAV may be an example ofa movable object as described herein. The UAV 900 can include apropulsion system having four rotors 902, 904, 906, and 908. Any numberof rotors may be provided (e.g., one, two, three, four, five, six, ormore). The rotors can be embodiments of the self-tightening rotorsdescribed elsewhere herein. The rotors, rotor assemblies, or otherpropulsion systems of the unmanned aerial vehicle may enable theunmanned aerial vehicle to hover/maintain position, change orientation,and/or change location. The distance between shafts of opposite rotorscan be any suitable length 910. For example, the length 910 can be lessthan or equal to 2 m, or less than equal to 5 m. In some embodiments,the length 910 can be within a range from 40 cm to 7 m, from 70 cm to 2m, or from 5 cm to 5 m. Any description herein of a UAV may apply to amovable object, such as a movable object of a different type, and viceversa.

In some embodiments, the movable object can be configured to carry aload. The load can include one or more of passengers, cargo, equipment,instruments, and the like. The load can be provided within a housing.The housing may be separate from a housing of the movable object, or bepart of a housing for an movable object. Alternatively, the load can beprovided with a housing while the movable object does not have ahousing. Alternatively, portions of the load or the entire load can beprovided without a housing. The load can be rigidly fixed relative tothe movable object. Optionally, the load can be movable relative to themovable object (e.g., translatable or rotatable relative to the movableobject).

In some embodiments, the load includes a payload. The payload can beconfigured not to perform any operation or function. Alternatively, thepayload can be a payload configured to perform an operation or function,also known as a functional payload. For example, the payload can includeone or more sensors for surveying one or more targets. Any suitablesensor can be incorporated into the payload, such as an image capturedevice (e.g., a camera), an audio capture device (e.g., a parabolicmicrophone), an infrared imaging device, or an ultraviolet imagingdevice. The sensor can provide static sensing data (e.g., a photograph)or dynamic sensing data (e.g., a video). In some embodiments, the sensorprovides sensing data for the target of the payload. Alternatively or incombination, the payload can include one or more emitters for providingsignals to one or more targets. Any suitable emitter can be used, suchas an illumination source or a sound source. In some embodiments, thepayload includes one or more transceivers, such as for communicationwith a module remote from the movable object. Optionally, the payloadcan be configured to interact with the environment or a target. Forexample, the payload can include a tool, instrument, or mechanismcapable of manipulating objects, such as a robotic arm.

Optionally, the load may include a carrier. The carrier can be providedfor the payload and the payload can be coupled to the movable object viathe carrier, either directly (e.g., directly contacting the movableobject) or indirectly (e.g., not contacting the movable object).Conversely, the payload can be mounted on the movable object withoutrequiring a carrier. The payload can be integrally formed with thecarrier. Alternatively, the payload can be releasably coupled to thecarrier. In some embodiments, the payload can include one or morepayload elements, and one or more of the payload elements can be movablerelative to the movable object and/or the carrier, as described above.

The carrier can be integrally formed with the movable object.Alternatively, the carrier can be releasably coupled to the movableobject. The carrier can be coupled to the movable object directly orindirectly. The carrier can provide support to the payload (e.g., carryat least part of the weight of the payload). The carrier can include asuitable mounting structure (e.g., a gimbal platform) capable ofstabilizing and/or directing the movement of the payload. In someembodiments, the carrier can be adapted to control the state of thepayload (e.g., position and/or orientation) relative to the movableobject. For example, the carrier can be configured to move relative tothe movable object (e.g., with respect to one, two, or three degrees oftranslation and/or one, two, or three degrees of rotation) such that thepayload maintains its position and/or orientation relative to a suitablereference frame regardless of the movement of the movable object. Thereference frame can be a fixed reference frame (e.g., the surroundingenvironment). Alternatively, the reference frame can be a movingreference frame (e.g., the movable object, a payload target).

In some embodiments, the carrier can be configured to permit movement ofthe payload relative to the carrier and/or movable object. The movementcan be a translation with respect to up to three degrees of freedom(e.g., along one, two, or three axes) or a rotation with respect to upto three degrees of freedom (e.g., about one, two, or three axes), orany suitable combination thereof.

In some instances, the carrier can include a carrier frame assembly anda carrier actuation assembly. The carrier frame assembly can providestructural support to the payload. The carrier frame assembly caninclude individual carrier frame components, some of which can bemovable relative to one another. The carrier actuation assembly caninclude one or more actuators (e.g., motors) that actuate movement ofthe individual carrier frame components. The actuators can permit themovement of multiple carrier frame components simultaneously, or may beconfigured to permit the movement of a single carrier frame component ata time. The movement of the carrier frame components can produce acorresponding movement of the payload. For example, the carrieractuation assembly can actuate a rotation of one or more carrier framecomponents about one or more axes of rotation (e.g., roll axis, pitchaxis, or yaw axis). The rotation of the one or more carrier framecomponents can cause a payload to rotate about one or more axes ofrotation relative to the movable object. Alternatively or incombination, the carrier actuation assembly can actuate a translation ofone or more carrier frame components along one or more axes oftranslation, and thereby produce a translation of the payload along oneor more corresponding axes relative to the movable object.

In some embodiments, the movement of the movable object, carrier, andpayload relative to a fixed reference frame (e.g., the surroundingenvironment) and/or to each other, can be controlled by a terminal. Theterminal can be a remote control device at a location distant from themovable object, carrier, and/or payload. The terminal can be disposed onor affixed to a support platform. Alternatively, the terminal can be ahandheld or wearable device. For example, the terminal can include asmartphone, tablet, laptop, computer, glasses, gloves, helmet,microphone, or suitable combinations thereof. The terminal can include auser interface, such as a keyboard, mouse, joystick, touchscreen, ordisplay. Any suitable user input can be used to interact with theterminal, such as manually entered commands, voice control, gesturecontrol, or position control (e.g., via a movement, location or tilt ofthe terminal).

The terminal can be used to control any suitable state of the movableobject, carrier, and/or payload. For example, the terminal can be usedto control the position and/or orientation of the movable object,carrier, and/or payload relative to a fixed reference from and/or toeach other. In some embodiments, the terminal can be used to controlindividual elements of the movable object, carrier, and/or payload, suchas the actuation assembly of the carrier, a sensor of the payload, or anemitter of the payload. The terminal can include a wirelesscommunication device adapted to communicate with one or more of themovable object, carrier, or payload.

The terminal can also be used to control any state of a power supplyand/or operation of a power supply pack. For example, the terminal canbe used to select or alter an operational mode of a power supply pack.The terminal can be used to remotely turn a power supply on or off, orcontrol charge or discharge of the power supply. The terminal can beused to cause a display of a level of charge for the power supply.Optionally, the level of charge for the power supply can be displayed ona power supply pack, and/or on the terminal. The terminal can include awireless communication device adapted to communicate with the powersupply pack.

The terminal can include a suitable display unit for viewing informationof the movable object, carrier, and/or payload. For example, theterminal can be configured to display information of the movable object,carrier, and/or payload with respect to position, translationalvelocity, translational acceleration, orientation, angular velocity,angular acceleration, or any suitable combinations thereof. In someembodiments, the terminal can display information provided by thepayload, such as data provided by a functional payload (e.g., imagesrecorded by a camera or other image capturing device).

Optionally, the same terminal may both control the movable object,carrier, and/or payload, or a state of the movable object, carrierand/or payload, as well as receive and/or display information from themovable object, carrier and/or payload. For example, a terminal maycontrol the positioning of the payload relative to an environment, whiledisplaying image data captured by the payload, or information about theposition of the payload. Alternatively, different terminals may be usedfor different functions. For example, a first terminal may controlmovement or a state of the movable object, carrier, and/or payload whilea second terminal may receive and/or display information from themovable object, carrier, and/or payload. For example, a first terminalmay be used to control the positioning of the payload relative to anenvironment while a second terminal displays image data captured by thepayload. Various communication modes may be utilized between a movableobject and an integrated terminal that both controls the movable objectand receives data, or between the movable object and multiple terminalsthat both control the movable object and receives data. For example, atleast two different communication modes may be formed between themovable object and the terminal that both controls the movable objectand receives data from the movable object.

FIG. 10 illustrates a movable object 1000 including a carrier 1002 and apayload 1004, in accordance with embodiments. Although the movableobject 1000 is depicted as an aircraft, this depiction is not intendedto be limiting, and any suitable type of movable object can be used, aspreviously described herein. One of skill in the art would appreciatethat any of the embodiments described herein in the context of aircraftsystems can be applied to any suitable movable object (e.g., an UAV). Insome instances, the payload 1004 may be provided on the movable object1000 without requiring the carrier 1002. The movable object 1000 mayinclude propulsion mechanisms 1006, a sensing system 1008, and acommunication system 1010.

The propulsion mechanisms 1006 can include one or more of rotors,propellers, blades, engines, motors, wheels, axles, magnets, or nozzles,as previously described. For example, the propulsion mechanisms 1006 maybe self-tightening rotors, rotor assemblies, or other rotary propulsionunits, as disclosed elsewhere herein. The movable object may have one ormore, two or more, three or more, or four or more propulsion mechanisms.The propulsion mechanisms may all be of the same type. Alternatively,one or more propulsion mechanisms can be different types of propulsionmechanisms. The propulsion mechanisms 1006 can be mounted on the movableobject 1000 using any suitable means, such as a support element (e.g., adrive shaft) as described elsewhere herein. The propulsion mechanisms1006 can be mounted on any suitable portion of the movable object 1000,such on the top, bottom, front, back, sides, or suitable combinationsthereof.

In some embodiments, the propulsion mechanisms 1006 can enable themovable object 1000 to take off vertically from a surface or landvertically on a surface without requiring any horizontal movement of themovable object 1000 (e.g., without traveling down a runway). Optionally,the propulsion mechanisms 1006 can be operable to permit the movableobject 1000 to hover in the air at a specified position and/ororientation. One or more of the propulsion mechanisms 1000 may becontrolled independently of the other propulsion mechanisms.Alternatively, the propulsion mechanisms 1000 can be configured to becontrolled simultaneously. For example, the movable object 1000 can havemultiple horizontally oriented rotors that can provide lift and/orthrust to the movable object. The multiple horizontally oriented rotorscan be actuated to provide vertical takeoff, vertical landing, andhovering capabilities to the movable object 1000. In some embodiments,one or more of the horizontally oriented rotors may spin in a clockwisedirection, while one or more of the horizontally rotors may spin in acounterclockwise direction. For example, the number of clockwise rotorsmay be equal to the number of counterclockwise rotors. The rotation rateof each of the horizontally oriented rotors can be varied independentlyin order to control the lift and/or thrust produced by each rotor, andthereby adjust the spatial disposition, velocity, and/or acceleration ofthe movable object 1000 (e.g., with respect to up to three degrees oftranslation and up to three degrees of rotation).

The sensing system 1008 can include one or more sensors that may sensethe spatial disposition, velocity, and/or acceleration of the movableobject 1000 (e.g., with respect to up to three degrees of translationand up to three degrees of rotation). The one or more sensors caninclude global positioning system (GPS) sensors, motion sensors,inertial sensors, proximity sensors, or image sensors. The sensing dataprovided by the sensing system 1008 can be used to control the spatialdisposition, velocity, and/or orientation of the movable object 1000(e.g., using a suitable processing unit and/or control module, asdescribed below). Alternatively, the sensing system 1008 can be used toprovide data regarding the environment surrounding the movable object,such as weather conditions, proximity to potential obstacles, locationof geographical features, location of manmade structures, and the like.

The communication system 1010 enables communication with terminal 1012having a communication system 1014 via wireless signals 1016. Thecommunication systems 1010, 1014 may include any number of transmitters,receivers, and/or transceivers suitable for wireless communication. Thecommunication may be one-way communication, such that data can betransmitted in only one direction. For example, one-way communicationmay involve only the movable object 1000 transmitting data to theterminal 1012, or vice-versa. The data may be transmitted from one ormore transmitters of the communication system 1010 to one or morereceivers of the communication system 1012, or vice-versa.Alternatively, the communication may be two-way communication, such thatdata can be transmitted in both directions between the movable object1000 and the terminal 1012. The two-way communication can involvetransmitting data from one or more transmitters of the communicationsystem 810 to one or more receivers of the communication system 1014,and vice-versa.

In some embodiments, the terminal 1012 can provide control data to oneor more of the movable object 1000, carrier 1002, and payload 1004 andreceive information from one or more of the movable object 1000, carrier1002, and payload 1004 (e.g., position and/or motion information of themovable object, carrier or payload; data sensed by the payload such asimage data captured by a payload camera). In some instances, controldata from the terminal may include instructions for relative positions,movements, actuations, or controls of the movable object, carrier and/orpayload. For example, the control data may result in a modification ofthe location and/or orientation of the movable object (e.g., via controlof the propulsion mechanisms 1006), or a movement of the payload withrespect to the movable object (e.g., via control of the carrier 1002).The control data from the terminal may result in control of the payload,such as control of the operation of a camera or other image capturingdevice (e.g., taking still or moving pictures, zooming in or out,turning on or off, switching imaging modes, change image resolution,changing focus, changing depth of field, changing exposure time,changing viewing angle or field of view). In some instances, thecommunications from the movable object, carrier and/or payload mayinclude information from one or more sensors (e.g., of the sensingsystem 1008 or of the payload 1004). The communications may includesensed information from one or more different types of sensors (e.g.,GPS sensors, motion sensors, inertial sensor, proximity sensors, orimage sensors). Such information may pertain to the position (e.g.,location, orientation), movement, or acceleration of the movable object,carrier and/or payload. Such information from a payload may include datacaptured by the payload or a sensed state of the payload. The controldata provided transmitted by the terminal 1012 can be configured tocontrol a state of one or more of the movable object 1000, carrier 1002,or payload 1004. Alternatively or in combination, the carrier 1002 andpayload 1004 can also each include a communication module configured tocommunicate with terminal 1012, such that the terminal can communicatewith and control each of the movable object 1000, carrier 1002, andpayload 1004 independently.

In some embodiments, the movable object 1000 can be configured tocommunicate with another remote device in addition to the terminal 1012,or instead of the terminal 1012. The terminal 1012 may also beconfigured to communicate with another remote device as well as themovable object 1000. For example, the movable object 1000 and/orterminal 1012 may communicate with another movable object, or a carrieror payload of another movable object. When desired, the remote devicemay be a second terminal or other computing device (e.g., computer,laptop, tablet, smartphone, or other mobile device). The remote devicecan be configured to transmit data to the movable object 1000, receivedata from the movable object 1000, transmit data to the terminal 1012,and/or receive data from the terminal 1012. Optionally, the remotedevice can be connected to the Internet or other telecommunicationsnetwork, such that data received from the movable object 1000 and/orterminal 1012 can be uploaded to a website or server.

FIG. 11 is a schematic illustration by way of block diagram of a system1100 for controlling a movable object, in accordance with embodiments.The system 1100 can be used in combination with any suitable embodimentof the systems, devices, and methods disclosed herein. The system 1100can include a sensing module 1102, processing unit 1104, non-transitorycomputer readable medium 1106, control module 1108, and communicationmodule 1110.

The sensing module 1102 can utilize different types of sensors thatcollect information relating to the movable objects in different ways.Different types of sensors may sense different types of signals orsignals from different sources. For example, the sensors can includeinertial sensors, GPS sensors, proximity sensors (e.g., lidar), orvision/image sensors (e.g., a camera). The sensing module 1102 can beoperatively coupled to a processing unit 1104 having a plurality ofprocessors. In some embodiments, the sensing module can be operativelycoupled to a transmission module 1112 (e.g., a Wi-Fi image transmissionmodule) configured to directly transmit sensing data to a suitableexternal device or system. For example, the transmission module 1112 canbe used to transmit images captured by a camera of the sensing module1102 to a remote terminal.

The processing unit 1104 can have one or more processors, such as aprogrammable processor (e.g., a central processing unit (CPU)). Theprocessing unit 1104 can be operatively coupled to a non-transitorycomputer readable medium 1106. The non-transitory computer readablemedium 1106 can store logic, code, and/or program instructionsexecutable by the processing unit 1104 for performing one or more steps.The non-transitory computer readable medium can include one or morememory units (e.g., removable media or external storage such as an SDcard or random access memory (RAM)). In some embodiments, data from thesensing module 1102 can be directly conveyed to and stored within thememory units of the non-transitory computer readable medium 1106. Thememory units of the non-transitory computer readable medium 1106 canstore logic, code and/or program instructions executable by theprocessing unit 1104 to perform any suitable embodiment of the methodsdescribed herein. For example, the processing unit 1104 can beconfigured to execute instructions causing one or more processors of theprocessing unit 1104 to analyze sensing data produced by the sensingmodule. The memory units can store sensing data from the sensing moduleto be processed by the processing unit 1104. In some embodiments, thememory units of the non-transitory computer readable medium 1106 can beused to store the processing results produced by the processing unit1104.

In some embodiments, the processing unit 1104 can be operatively coupledto a control module 1108 configured to control a state of the movableobject. For example, the control module 1108 can be configured tocontrol the propulsion mechanisms of the movable object to adjust thespatial disposition, velocity, and/or acceleration of the movable objectwith respect to six degrees of freedom. Alternatively or in combination,the control module 1108 can control one or more of a state of a carrier,payload, or sensing module.

The processing unit 1104 can be operatively coupled to a communicationmodule 1110 configured to transmit and/or receive data from one or moreexternal devices (e.g., a terminal, display device, or other remotecontroller). Any suitable means of communication can be used, such aswired communication or wireless communication. For example, thecommunication module 1110 can utilize one or more of local area networks(LAN), wide area networks (WAN), infrared, radio, WiFi, point-to-point(P2P) networks, telecommunication networks, cloud communication, and thelike. Optionally, relay stations, such as towers, satellites, or mobilestations, can be used. Wireless communications can be proximitydependent or proximity independent. In some embodiments, line-of-sightmay or may not be required for communications. The communication module1110 can transmit and/or receive one or more of sensing data from thesensing module 1102, processing results produced by the processing unit1104, predetermined control data, user commands from a terminal orremote controller, and the like.

The components of the system 1100 can be arranged in any suitableconfiguration. For example, one or more of the components of the system1100 can be located on the movable object, carrier, payload, terminal,sensing system, or an additional external device in communication withone or more of the above. Additionally, although FIG. 11 depicts asingle processing unit 1104 and a single non-transitory computerreadable medium 1106, one of skill in the art would appreciate that thisis not intended to be limiting, and that the system 1100 can include aplurality of processing units and/or non-transitory computer readablemedia. In some embodiments, one or more of the plurality of processingunits and/or non-transitory computer readable media can be situated atdifferent locations, such as on the movable object, carrier, payload,terminal, sensing module, additional external device in communicationwith one or more of the above, or suitable combinations thereof, suchthat any suitable aspect of the processing and/or memory functionsperformed by the system 1100 can occur at one or more of theaforementioned locations.

While preferred embodiments of the present invention have been shown anddescribed herein, it will be obvious to those skilled in the art thatsuch embodiments are provided by way of example only. Numerousvariations, changes, and substitutions will now occur to those skilledin the art without departing from the invention. It should be understoodthat various alternatives to the embodiments of the invention describedherein may be employed in practicing the invention. It is intended thatthe following claims define the scope of the invention and that methodsand structures within the scope of these claims and their equivalents becovered thereby.

What is claimed is:
 1. A power supply assembly, comprising: a powersupply configured to power an aerial vehicle; a power supply circuitconnected to the power supply and carried by the power supply, whereinthe power supply is configured to discharge through the power supplycircuit to power the aerial vehicle, and wherein the power supplycircuit includes— an electronic switch in electrical communication withthe power supply and having (a) a switch-on state that permits dischargeof power from the power supply to the aerial vehicle and (b) aswitch-off state that prevents discharge of power from the power supplyto the aerial vehicle; a power measurement device in electricalcommunication with the power supply; and an indication device inelectrical communication with the power measurement device, wherein theindication device is configured to display a level of charge of thepower supply (a) without requiring the power supply to be connected tothe aerial vehicle and (b) without requiring the electronic switch to bein the switch-on state; and a single input device carried by the powersupply and in electrical communication with the electronic switch andthe indication device, wherein the input device is configured to receiveat least (a) a first input from a user of the aerial vehicle forchanging at least one of the switch-on or the switch-off state of theswitch and (b) a second input from the user of the aerial vehicle fordisplaying the level of charge of the power supply via the indicationdevice.
 2. The power supply assembly of claim 1 wherein the input deviceis configured to receive the first input for changing the switch-onstate of the electronic switch to the switch-off state.
 3. The powersupply assembly of claim 1 wherein the power measurement device includesa current sampling device configured to detect a current signal duringcharging or discharging of the power supply, and wherein the powermeasurement device is configured to calculate the level of charge of thepower supply by sampling and integrating the current signal over aperiod of time at a predetermined frequency.
 4. The power supplyassembly of claim 3 wherein the current sampling device is configured tocollect current during the discharging of the power supply.
 5. The powersupply assembly of claim 3 further comprising an interface configured toprovide access to the level of charge of the power supply and voltage ofthe power supply.
 6. The power supply assembly of claim 1 wherein theinput device is selected from the group consisting of a key switch, amechanical switch, a potentiometer, a pressure sensor, and a touchsensor.
 7. The power supply assembly of claim 6 wherein the first inputincludes an actuation of the input device for a first time, and whereinthe second input includes an actuation of the input device for a secondtime, different than the first time.
 8. The power supply assembly ofclaim 7 wherein the first time is longer than the second time.
 9. Thepower supply assembly of claim 1 wherein the input device includes abutton, wherein the first input includes a depression of the button fora first time, and wherein the second input includes a depression of thebutton for a second time, different than the first time.
 10. The powersupply assembly of claim 9 wherein the first time is longer than thesecond time.
 11. The power supply assembly of claim 1 wherein theelectronic switch includes one of a power MOSFET, a solid state relay, apower transistor, or an insulated gate bipolar transistor (IGBT). 12.The power supply assembly of claim 1 wherein the electronic switch is apower MOSFET.
 13. The power supply assembly of claim 1 wherein the powersupply and power supply circuit weigh less than about 450 grams.
 14. Thepower supply assembly of claim 1, wherein the aerial vehicle is anunmanned aerial vehicle (UAV).
 15. A power supply assembly for an aerialvehicle, comprising: a housing including a bottom casing and a covermember, wherein the cover member is positioned to cover an opening ofthe bottom casing, wherein the bottom casing is configured to beinserted into the aerial vehicle, wherein the cover member forms aportion of an exterior surface of the aerial vehicle when the bottomcasing is inserted into the aerial vehicle, and wherein the bottomcasing is not exposed at the exterior surface of the aerial vehicle whenthe bottom casing is inserted into the aerial vehicle; a power supplyconfigured to power the aerial vehicle, wherein the power supply isdisposed in the bottom casing; an indication device carried by the covermember; and a single input device carried by the power-cover member andconfigured to— receive input signals from a user of the aerial vehicle,wherein the input signals include at least (a) a first input signalindicative of a first operational mode and (b) a second input signalindicative of a second operational mode; and enable switching between aplurality of operational modes based on the received input signals,wherein the operational modes include at least the first operationalmode and the second operational mode, wherein the first operational modeincludes activating display of a level of charge of the power supply onthe indication device, and wherein the second operational mode includesat least one of (a) connecting the power supply from the aerial vehicleby turning on an electronic switch in electrical communication with thepower supply, or (b) disconnecting the power supply from the aerialvehicle by turning off the electronic switch in electrical communicationwith the power supply, wherein the indication device is configured todisplay the level of charge of the power supply in response to receiptof the first input signal, (a) without requiring the power supply to beconnected to the aerial vehicle and (b) without requiring the electronicswitch to be turned on.
 16. The power supply assembly of claim 15wherein the plurality of operational modes further includes a thirdoperational mode that includes communicating with an external device.17. The power supply assembly of claim 15 wherein the first input signalhas a first characteristic, and wherein the second input signal has asecond characteristic, different than the first characteristic.
 18. Thepower supply assembly of claim 17 wherein the first and secondcharacteristics are different lengths of time of the input signal. 19.The power supply assembly of claim 17 wherein the first and secondcharacteristics are different patterns provided in the input signals.20. A system, comprising: an unmanned aerial vehicle having a propulsionunit including at least one rotatable blade; a power supply assemblyincluding— a housing including a bottom casing and a cover member,wherein the cover member is positioned to cover an opening of the bottomcasing, wherein the bottom casing is configured to be inserted into theunmanned aerial vehicle, wherein the cover member forms a portion of anexterior surface of the unmanned aerial vehicle when the bottom casingis inserted into the unmanned aerial vehicle, and wherein the bottomcasing is not exposed at the exterior surface of the unmanned aerialvehicle when the bottom casing is inserted into the unmanned aerialvehicle; a power supply configured to power the propulsion unit of theunmanned aerial vehicle, wherein the power supply is disposed in thebottom casing; a power supply circuit connected to the power supply,wherein the power supply is configured to discharge through the powersupply circuit to power the propulsion unit of the unmanned aerialvehicle to rotate the at least one rotatable blade to generate lift forthe unmanned aerial vehicle, and wherein the power supply circuitincludes— a power MOSFET in electrical communication with the powersupply and having (a) a switch-on state that permits discharge of powerfrom the power supply to the propulsion unit of the aerial vehicle and(b) a switch-off state that prevents discharge of power from the powersupply to the propulsion unit of the aerial vehicle; a power measurementdevice in electrical communication with the power supply; and aplurality of light-emitting diodes (LEDs) carried by the cover memberand in electrical communication with the power measurement device,wherein the LED lights are configured to display a level of charge ofthe power supply (a) without requiring the power supply to be connectedto the aerial vehicle and (b) without requiring the power MOSFET to bein the switch-on state; and a single button carried by the cover memberand in electrical communication with the power MOSFET and the LEDlights, wherein the button is configured to be depressed (a) for a firstlength of time for changing at least one of the switch-on or theswitch-off state of the power MOSFET and (b) for a second length oftime, different than the first length of time, for displaying the levelof charge of the power supply via the LED lights.